#code modified from examples provided by John Eriksson at http://arainyday.se/projects/python/AStar/

# Version 1.1
#
# Changes in 1.1: 
# In order to optimize the list handling I implemented the location id (lid) attribute.
# This will make the all list searches to become extremely more optimized.

class Path:
    def __init__(self,nodes, totalCost):
        self.nodes = nodes;
        self.totalCost = totalCost;

    def getNodes(self): 
        return self.nodes    

    def getTotalMoveCost(self):
        return self.totalCost

class Node:
    def __init__(self,location,mCost,lid,adjNodes,parent=None,):
        self.location = location # where is this node located
        self.mCost = mCost # total move cost to reach this node
        self.parent = parent # parent node
        self.score = 0 # calculated score for this node
        self.lid = lid # set the location id - unique for each location in the map
        self.adjacentNodes = adjNodes;

    def __eq__(self, n):
        if n.lid == self.lid:
            return 1
        else:
            return 0

class AStar:

    wayNodeList = []
    adjNodeList = []

    def __init__(self,maphandler):
        self.mh = maphandler
        


        AStar.wayNodeList = [[485,10],[388,14],[485,18],[317,21],[343,22],[439,23],[343,31],[420,31],[343,39],[419,39],[503,41],[536,41],[268,45],[411,46],[442,46],[323,48],[380,50],[449,50],[459,50],[468,50],[442,53],[406,55],[382,57],[406,60],[234,61],[280,61],[309,62],[503,62],[540,62],[400,65],[439,65],[448,65],[134,67],[426,69],[383,70],[234,74],[321,74],[214,75],[290,75],[415,77],[121,78],[150,78],[508,78],[382,79],[255,80],[324,81],[196,82],[289,82],[152,84],[382,84],[415,84],[130,86],[324,86],[110,88],[117,88],[152,89],[195,89],[279,94],[308,94],[485,94],[532,94],[267,95],[273,95],[174,102],[374,104],[400,104],[338,106],[322,111],[357,112],[373,112],[174,114],[485,115],[236,116],[533,116],[173,119],[28,121],[38,121],[400,122],[320,124],[465,124],[470,124],[340,128],[167,129],[90,130],[28,133],[320,133],[340,133],[142,134],[465,136],[485,136],[533,136],[155,137],[267,140],[307,140],[401,141],[307,146],[142,147],[155,147],[167,147],[219,147],[180,148],[503,148],[312,152],[155,156],[180,156],[218,156],[186,157],[401,158],[503,158],[387,159],[487,164],[311,165],[387,166],[90,168],[55,169],[142,169],[186,169],[505,170],[125,172],[311,172],[387,172],[91,173],[304,173],[141,175],[322,176],[90,179],[130,179],[186,181],[252,181],[26,184],[165,184],[89,185],[243,185],[159,186],[426,187],[452,187],[506,187],[355,188],[390,188],[289,189],[322,189],[51,191],[89,191],[281,191],[243,194],[88,198],[271,199],[479,199],[488,199],[496,199],[281,201],[322,201],[304,202],[243,203],[452,203],[506,203],[87,204],[158,204],[471,204],[51,211],[87,211],[238,211],[270,213],[304,213],[471,214],[111,216],[104,217],[158,220],[117,221],[169,221],[243,221],[269,221],[38,223],[69,223],[100,223],[325,225],[489,225],[271,226],[169,231],[26,233],[36,233],[69,233],[55,234],[117,235],[51,239],[169,241],[157,242],[488,242],[58,244],[236,245],[257,245],[297,245],[117,249],[58,254],[118,254],[488,258],[119,260],[236,262],[327,263],[62,264],[156,264],[120,265],[242,267],[462,270],[121,271],[384,274],[232,276],[418,277],[122,279],[222,281],[434,282],[156,285],[144,289],[413,289],[434,289],[88,291],[99,291],[110,291],[327,293],[144,295],[434,295],[384,296],[99,301],[144,301],[439,301],[127,302],[170,310],[183,310],[196,310],[62,311],[87,311],[168,316],[197,318],[222,318],[248,322],[260,322],[327,323],[88,324],[127,324],[166,324],[382,324],[183,330],[182,338],[248,339],[300,339],[351,339],[414,341],[88,346],[104,346],[300,351],[88,353],[103,353],[248,353],[293,353],[222,355],[229,357],[248,365],[292,365],[230,366]]

        AStar.adjNodeList = [[SQ_Location(485,18),SQ_Location(503,41),SQ_Location(468,50),SQ_Location(503,62),SQ_Location(540,62),SQ_Location(508,78),SQ_Location(485,94),SQ_Location(532,94),SQ_Location(485,115),SQ_Location(533,116),SQ_Location(485,136),SQ_Location(487,164),SQ_Location(471,204),SQ_Location(471,214)],[SQ_Location(317,21),SQ_Location(343,22),SQ_Location(439,23),SQ_Location(343,31),SQ_Location(343,39),SQ_Location(323,48),SQ_Location(309,62),SQ_Location(290,75)],[SQ_Location(485,10),SQ_Location(503,41),SQ_Location(536,41),SQ_Location(468,50),SQ_Location(503,62),SQ_Location(540,62),SQ_Location(508,78),SQ_Location(485,94),SQ_Location(532,94),SQ_Location(485,115),SQ_Location(533,116),SQ_Location(485,136),SQ_Location(487,164),SQ_Location(471,204),SQ_Location(471,214)],[SQ_Location(388,14),SQ_Location(343,22),SQ_Location(343,31),SQ_Location(343,39),SQ_Location(323,48),SQ_Location(380,50),SQ_Location(309,62),SQ_Location(321,74),SQ_Location(324,81),SQ_Location(324,86),SQ_Location(322,111),SQ_Location(320,124),SQ_Location(320,133),SQ_Location(312,152),SQ_Location(311,165),SQ_Location(311,172),SQ_Location(322,176),SQ_Location(322,189),SQ_Location(322,201),SQ_Location(304,202),SQ_Location(304,213),SQ_Location(325,225),SQ_Location(327,263),SQ_Location(327,293),SQ_Location(327,323)],[SQ_Location(388,14),SQ_Location(317,21),SQ_Location(343,31),SQ_Location(343,39),SQ_Location(323,48),SQ_Location(380,50),SQ_Location(309,62),SQ_Location(400,65),SQ_Location(321,74),SQ_Location(290,75),SQ_Location(415,77),SQ_Location(324,81),SQ_Location(289,82),SQ_Location(324,86),SQ_Location(279,94),SQ_Location(322,111),SQ_Location(307,140),SQ_Location(307,146),SQ_Location(312,152),SQ_Location(304,173),SQ_Location(289,189)],[SQ_Location(388,14),SQ_Location(419,39),SQ_Location(411,46),SQ_Location(442,46),SQ_Location(449,50),SQ_Location(442,53),SQ_Location(406,55),SQ_Location(406,60),SQ_Location(400,65),SQ_Location(439,65),SQ_Location(448,65),SQ_Location(383,70)],[SQ_Location(388,14),SQ_Location(317,21),SQ_Location(343,22),SQ_Location(343,39),SQ_Location(323,48),SQ_Location(380,50),SQ_Location(309,62),SQ_Location(321,74),SQ_Location(290,75),SQ_Location(324,81),SQ_Location(273,95),SQ_Location(219,147),SQ_Location(158,204)],[SQ_Location(419,39),SQ_Location(411,46),SQ_Location(442,46),SQ_Location(449,50),SQ_Location(459,50),SQ_Location(468,50),SQ_Location(406,55),SQ_Location(406,60),SQ_Location(503,62),SQ_Location(540,62),SQ_Location(400,65),SQ_Location(383,70),SQ_Location(415,77),SQ_Location(508,78),SQ_Location(382,79),SQ_Location(415,84),SQ_Location(532,94),SQ_Location(400,104),SQ_Location(400,122),SQ_Location(401,141),SQ_Location(401,158),SQ_Location(387,159),SQ_Location(387,166),SQ_Location(387,172),SQ_Location(390,188)],[SQ_Location(388,14),SQ_Location(317,21),SQ_Location(343,22),SQ_Location(343,31),SQ_Location(323,48),SQ_Location(309,62),SQ_Location(290,75)],[SQ_Location(439,23),SQ_Location(420,31),SQ_Location(503,41),SQ_Location(536,41),SQ_Location(411,46),SQ_Location(442,46),SQ_Location(459,50),SQ_Location(468,50),SQ_Location(406,55),SQ_Location(406,60),SQ_Location(503,62),SQ_Location(540,62),SQ_Location(400,65),SQ_Location(383,70),SQ_Location(415,77),SQ_Location(415,84),SQ_Location(400,104),SQ_Location(400,122),SQ_Location(401,141),SQ_Location(401,158),SQ_Location(387,159),SQ_Location(387,166),SQ_Location(387,172),SQ_Location(390,188)],[SQ_Location(485,10),SQ_Location(485,18),SQ_Location(419,39),SQ_Location(536,41),SQ_Location(411,46),SQ_Location(442,46),SQ_Location(449,50),SQ_Location(459,50),SQ_Location(468,50),SQ_Location(442,53),SQ_Location(503,62),SQ_Location(540,62),SQ_Location(439,65),SQ_Location(448,65),SQ_Location(426,69),SQ_Location(415,77),SQ_Location(508,78),SQ_Location(485,94),SQ_Location(532,94),SQ_Location(485,115),SQ_Location(533,116),SQ_Location(470,124),SQ_Location(465,136),SQ_Location(485,136),SQ_Location(452,203)],[SQ_Location(485,18),SQ_Location(419,39),SQ_Location(503,41),SQ_Location(442,46),SQ_Location(449,50),SQ_Location(459,50),SQ_Location(468,50),SQ_Location(442,53),SQ_Location(503,62),SQ_Location(540,62),SQ_Location(439,65),SQ_Location(426,69),SQ_Location(508,78),SQ_Location(485,94),SQ_Location(532,94),SQ_Location(533,116),SQ_Location(465,124),SQ_Location(470,124),SQ_Location(533,136)],[SQ_Location(234,61),SQ_Location(280,61),SQ_Location(234,74),SQ_Location(214,75),SQ_Location(290,75),SQ_Location(255,80),SQ_Location(324,81),SQ_Location(196,82),SQ_Location(289,82),SQ_Location(236,116),SQ_Location(320,124),SQ_Location(219,147),SQ_Location(218,156),SQ_Location(169,231),SQ_Location(169,241),SQ_Location(156,264),SQ_Location(144,289),SQ_Location(144,295),SQ_Location(144,301),SQ_Location(127,324)],[SQ_Location(439,23),SQ_Location(420,31),SQ_Location(419,39),SQ_Location(503,41),SQ_Location(406,55),SQ_Location(406,60),SQ_Location(400,65),SQ_Location(383,70),SQ_Location(415,77),SQ_Location(415,84),SQ_Location(400,122),SQ_Location(401,141),SQ_Location(401,158),SQ_Location(390,188)],[SQ_Location(439,23),SQ_Location(420,31),SQ_Location(41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_Location(242,267),SQ_Location(232,276),SQ_Location(222,281),SQ_Location(144,289),SQ_Location(144,295),SQ_Location(144,301),SQ_Location(170,310),SQ_Location(183,310),SQ_Location(196,310),SQ_Location(168,316),SQ_Location(197,318),SQ_Location(166,324),SQ_Location(183,330)],[SQ_Location(236,262),SQ_Location(232,276),SQ_Location(222,281),SQ_Location(99,301),SQ_Location(144,301),SQ_Location(127,302),SQ_Location(170,310),SQ_Location(183,310),SQ_Location(196,310),SQ_Location(168,316),SQ_Location(197,318),SQ_Location(222,318),SQ_Location(248,322),SQ_Location(260,322),SQ_Location(166,324),SQ_Location(300,339),SQ_Location(351,339),SQ_Location(414,341),SQ_Location(300,351),SQ_Location(248,353),SQ_Location(293,353),SQ_Location(222,355),SQ_Location(229,357),SQ_Location(248,365),SQ_Location(292,365),SQ_Location(230,366)],[SQ_Location(99,301),SQ_Location(144,301),SQ_Location(127,302),SQ_Location(170,310),SQ_Location(183,310),SQ_Location(196,310),SQ_Location(62,311),SQ_Location(87,311),SQ_Location(168,316),SQ_Location(197,318),SQ_Location(222,318),SQ_Location(248,322),SQ_Location(327,323),SQ_Location(166,324),SQ_Location(248,339),SQ_Location(351,339),SQ_Location(414,341),SQ_Location(300,351),SQ_Location(248,353),SQ_Location(293,353),SQ_Location(222,355),SQ_Location(229,357),SQ_Location(248,365),SQ_Location(292,365),SQ_Location(230,366)],[SQ_Location(418,277),SQ_Location(413,289),SQ_Location(384,296),SQ_Location(62,311),SQ_Location(87,311),SQ_Location(168,316),SQ_Location(197,318),SQ_Location(327,323),SQ_Location(127,324),SQ_Location(166,324),SQ_Location(382,324),SQ_Location(248,339),SQ_Location(300,339),SQ_Location(414,341),SQ_Location(300,351),SQ_Location(248,353),SQ_Location(293,353),SQ_Location(222,355),SQ_Location(229,357),SQ_Location(248,365),SQ_Location(292,365),SQ_Location(230,366)],[SQ_Location(384,296),SQ_Location(62,311),SQ_Location(87,311),SQ_Location(88,324),SQ_Location(127,324),SQ_Location(166,324),SQ_Location(382,324),SQ_Location(248,339),SQ_Location(300,339),SQ_Location(351,339),SQ_Location(248,353),SQ_Location(222,355)],[SQ_Location(38,121),SQ_Location(155,147),SQ_Location(51,191),SQ_Location(51,211),SQ_Location(38,223),SQ_Location(69,223),SQ_Location(325,225),SQ_Location(36,233),SQ_Location(69,233),SQ_Location(55,234),SQ_Location(51,239),SQ_Location(58,244),SQ_Location(297,245),SQ_Location(58,254),SQ_Location(119,260),SQ_Location(62,264),SQ_Location(120,265),SQ_Location(242,267),SQ_Location(121,271),SQ_Location(232,276),SQ_Location(222,281),SQ_Location(156,285),SQ_Location(144,289),SQ_Location(88,291),SQ_Location(99,291),SQ_Location(110,291),SQ_Location(144,295),SQ_Location(99,301),SQ_Location(144,301),SQ_Location(127,302),SQ_Location(170,310),SQ_Location(183,310),SQ_Location(196,310),SQ_Location(62,311),SQ_Location(87,311),SQ_Location(168,316),SQ_Location(197,318),SQ_Location(88,324),SQ_Location(127,324),SQ_Location(166,324),SQ_Location(104,346),SQ_Location(88,353),SQ_Location(103,353)],[SQ_Location(142,134),SQ_Location(218,156),SQ_Location(125,172),SQ_Location(130,179),SQ_Location(51,191),SQ_Location(51,211),SQ_Location(38,223),SQ_Location(69,223),SQ_Location(325,225),SQ_Location(36,233),SQ_Location(69,233),SQ_Location(55,234),SQ_Location(117,235),SQ_Location(51,239),SQ_Location(169,241),SQ_Location(58,244),SQ_Location(297,245),SQ_Location(117,249),SQ_Location(58,254),SQ_Location(118,254),SQ_Location(119,260),SQ_Location(62,264),SQ_Location(156,264),SQ_Location(242,267),SQ_Location(232,276),SQ_Location(222,281),SQ_Location(156,285),SQ_Location(144,289),SQ_Location(88,291),SQ_Location(99,291),SQ_Location(110,291),SQ_Location(144,295),SQ_Location(99,301),SQ_Location(144,301),SQ_Location(127,302),SQ_Location(170,310),SQ_Location(183,310),SQ_Location(196,310),SQ_Location(62,311),SQ_Location(87,311),SQ_Location(168,316),SQ_Location(197,318),SQ_Location(88,324),SQ_Location(127,324),SQ_Location(166,324),SQ_Location(88,346),SQ_Location(88,353),SQ_Location(103,353)],[SQ_Location(327,293),SQ_Location(99,301),SQ_Location(144,301),SQ_Location(127,302),SQ_Location(170,310),SQ_Location(183,310),SQ_Location(196,310),SQ_Location(168,316),SQ_Location(197,318),SQ_Location(222,318),SQ_Location(248,322),SQ_Location(260,322),SQ_Location(327,323),SQ_Location(382,324),SQ_Location(248,339),SQ_Location(300,339),SQ_Location(351,339),SQ_Location(248,353),SQ_Location(293,353),SQ_Location(222,355),SQ_Location(229,357),SQ_Location(248,365),SQ_Location(292,365),SQ_Location(230,366)],[SQ_Location(38,121),SQ_Location(155,137),SQ_Location(55,169),SQ_Location(51,191),SQ_Location(51,211),SQ_Location(38,223),SQ_Location(69,223),SQ_Location(325,225),SQ_Location(36,233),SQ_Location(69,233),SQ_Location(55,234),SQ_Location(51,239),SQ_Location(58,244),SQ_Location(297,245),SQ_Location(58,254),SQ_Location(118,254),SQ_Location(119,260),SQ_Location(62,264),SQ_Location(120,265),SQ_Location(242,267),SQ_Location(121,271),SQ_Location(232,276),SQ_Location(222,281),SQ_Location(156,285),SQ_Location(144,289),SQ_Location(88,291),SQ_Location(99,291),SQ_Locati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           
                
    def _getBestOpenNode(self):
        bestNode = None        
        for n in self.on:
            if not bestNode:
                bestNode = n
            else:
                if n.score<=bestNode.score:
                    bestNode = n
        return bestNode

    def _tracePath(self,n):
        nodes = [];
        totalCost = n.mCost;
        p = n.parent;
        nodes.insert(0,n);       
        
        while 1:
            if p.parent is None: 
                break

            nodes.insert(0,p)
            p=p.parent
        
        return Path(nodes,totalCost)

    def _handleNode(self,node,end):        
        i = self.o.index(node.lid)
        self.on.pop(i)
        self.o.pop(i)
        self.c.append(node.lid)

        nodes = self.mh.getAdjacentNodes(node,end)
                   
        for n in nodes:
            if n.location == end:
                # reached the destination
                return n
            elif n.lid in self.c:
                # already in close, skip this
                continue
            elif n.lid in self.o:
                # already in open, check if better score
                i = self.o.index(n.lid)
                on = self.on[i];
                if n.mCost<on.mCost:
                    self.on.pop(i);
                    self.o.pop(i);
                    self.on.append(n);
                    self.o.append(n.lid);
            else:
                # new node, append to open list
                self.on.append(n);                
                self.o.append(n.lid);

        return None

    def findPath(self,fromlocation, tolocation):
        self.o = []
        self.on = []
        self.c = []

        end = tolocation
        fnode = self.mh.getNode(fromlocation)
        self.on.append(fnode)
        self.o.append(fnode.lid)
        nextNode = fnode 
               
        while nextNode is not None: 
            finish = self._handleNode(nextNode,end)
            if finish:                
                return self._tracePath(finish)
            nextNode=self._getBestOpenNode()
                
        return None
      
class SQ_Location:
    """A simple Square Map Location implementation"""
    def __init__(self,x,y):
        self.x = x
        self.y = y

    def __eq__(self, l):
        """MUST BE IMPLEMENTED"""
        if l.x == self.x and l.y == self.y:
            return 1
        else:
            return 0

class SQ_MapHandler:
    """A simple Square Map implementation"""

    def __init__(self,mapdata,width,height):
        self.m = mapdata
        self.w = width
        self.h = height

    def getNode(self, location):
        """MUST BE IMPLEMENTED"""
        x = location.x
        y = location.y
        if x<0 or x>=self.w or y<0 or y>=self.h:
            return None

        d = 1 #all waynodes are already vetted at cost=1, can assign heat-map costs to waynodes later
        
        """
        d = self.m[(y*self.w)+x]
        if d == -1:
            return None

        lid = (y*self.w)+x
        print "lid:%d" % (lid)
        """
        
        """
        adjNode = []
        if lid == 35: 
            adjNode.append(SQ_Location(5,7))
            adjNode.append(SQ_Location(10,4))
            adjNode.append(SQ_Location(8,8))
        if lid == 243:
            adjNode.append(SQ_Location(32,28))
        if lid == 280: #8,8
            adjNode.append(SQ_Location(32,28))
        """

        #lid = 0
        """
        adjNode = []
        this_x = AStar.adjNodeList[lid][0]
        this_y = AStar.adjNodeList[lid][1]
        adjNode.append(SQ_Location(this_x,this_y))
        """

        lid = 0 #just in case?
        
        for index,wayNode in enumerate(AStar.wayNodeList):
            if wayNode[0] == x and wayNode[1] == y:
                lid = index
        
        #return Node(location,d,((y*self.w)+x),adjNode);
        return Node(location,d,((y*self.w)+x),AStar.adjNodeList[lid]);              

    def getAdjacentNodes(self, curnode, dest):
        """MUST BE IMPLEMENTED"""        
        result = []
       
        cl = curnode.location
        dl = dest

        for nearNode in curnode.adjacentNodes:
            n = self._handleNode(nearNode.x,nearNode.y,curnode,dl.x,dl.y)
            if n: result.append(n)
              
        return result

    def _handleNode(self,x,y,fromnode,destx,desty):
        n = self.getNode(SQ_Location(x,y))
        if n is not None:
            dx = max(x,destx) - min(x,destx)
            dy = max(y,desty) - min(y,desty)
            emCost = dx+dy
            n.mCost += fromnode.mCost                                   
            n.score = n.mCost+emCost
            n.parent=fromnode
            return n

        return None    
